Open AccessMechanics Modeling and Kinetic Analysis of Sub Marine Tracked Vehicle-Cable Salvage during Steady-state Steering
Author(s) -
Hao Zhang,
Su Jianjun,
Xiaoli Hu,
Yubing Duan,
Xin Shi,
Yao Jinxia,
Gu Chao
Publication year - 2019
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1267/1/012061
Subject(s) - slipping , submarine , slip angle , slip (aerodynamics) , angular acceleration , shear (geology) , angular velocity , mechanics , marine engineering , geology , engineering , physics , structural engineering , classical mechanics , aerospace engineering , petrology
Based on the demand for deep-sea submarine cable salvage in Northeast Asia, a mathematical model of Sub Marine Tracked Vehicle-Cable Salvage (SMT-CS) was designed in this study. Considering the slip characteristics of the submarine track, the mechanical model of the SMT-CS during steady-state steering was simplified to obtain the kinetic equation of the vehicle body during steady-state steering. According to the steering geometrical relationship, the arbitrary shear rate and shear displacement of the ground plane during the steering process were solved. Combined with the empirical shear model of bottom sediments, the longitudinal driving force, lateral resistance and resistance moment of the larboard and starboard were derived during steady-state steering. The functional relationship between the lateral shift of instantaneous center of the conventional steering rate and the turning radius and angular velocity of the vehicle body as well as that between the slipping rate and the turning radius and angular velocity of the vehicle body was derived according to the geometrical relationship of steering motion. These are of great reference value to the design, performance prediction and maritime application of SMT-CS in the future.